Reducing Power Consumption and Latency in Mobile Devices using a Push Event Stream Model, Kernel Display Server, and GUI Scheduler

The power consumed by mobile devices can be dramatically reduced by improving how mobile operating systems handle events and display management. Currently, mobile operating systems use a pull model that employs a polling loop to constantly ask the operating system if an event exists. This constant querying prevents the CPU from entering a deep sleep, which unnecessarily consumes power. We’ve improved this process by switching to a push model which we refer to as the event stream model (ESM). This model leverages modern device interrupt controllers which automatically notify an application when events occur, thus removing the need to constantly rouse the CPU in order to poll for events. Since the CPU rests while no events are occurring, power consumption is reduced. Furthermore, an application is immediately notified when an event occurs, as opposed to waiting for a polling loop to recognize when an event has occurred. This immediate notification reduces latency, which is the elapsed time between the occurrence of an event and the beginning of its processing by an application. We further improved the benefits of the ESM by moving the display server, a central piece of the graphical user interface (GUI), into the kernel. Existing display servers duplicate some of the kernel code. They contain important information about an application that can assist the kernel with scheduling, such as whether the application is visible and able to receive events. However, they do not share such information with the kernel. Our new kernel-level display server (KDS) interacts directly with the process scheduler to determine when applications are allowed to use the CPU. For example, when an application is idle and not visible on the screen, the KDS prevents that application from using the CPU, thus conserving power. These combined improvements have reduced power consumption by up to 31.2% and latency by up to 17.1 milliseconds in our experimental applications. This improvement in power consumption roughly increases battery life by one to four hours when the device is being actively used or fifty to three-hundred hours when the device is idle

Flexible Composition of Robot Logic with Computer Vision Services

Vision-based robotics is an ever-growing field within industrial automation. Demands for greater flexibility and higher quality motivate manufacturing companies to adopt these technologies for such tasks as material handling, assembly, and inspection. In addition to the direct use in the manufacturing setting, robots combined with vision systems serve as highly flexible means for realization of prototyping test-beds in the R&D context.Traditionally, the problem areas of robotics and computer vision are attacked separately. An exception is the study of vision-based servo control, the focus of which constitutes control-theoretic aspects of vision-based robot guidance under assumption that robot joints can be controlled directly. The missing part is a systemic approach to implementing robotic application with vision sensing given industrial robots constrained by their programming interface. This thesis targets the development process of vision-based robotic systems in an event-driven environment. It focuses on design and composition of three functional components: (1) robot control function, (2) image acquisition function, and (3) image processing function. The thesis approaches its goal by a combination of laboratory results, a case study of an industrial company (Kongsberg Automotive AS), and formalization of computational abstractions and architectural solutions. The image processing function is tackled with the application of reactive pipelines. The proposed system development method allows for smooth transition from early-stage vision algorithm prototyping to the integration phase. The image acquisition function in this thesis is exposed in a service-oriented manner with the help of a flexible set of concurrent computational primitives. To realize control of industrial robots, a distributed architecture is devised, which supports composability of communication-heavy robot logic, as well as flexible coupling of the robot control node with vision services